8fc494cfcd
AP_AHRS_DCM: changed estimate to use prev values for dir & vel
9 years ago
2bf9aa94ad
AP_AHRS: Fix typos
9 years ago
6d3b491c02
AP_Math: Replace is_equal with a type safe template function
...
It makes sense to consider also other floating point types.
9 years ago
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
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The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
9 years ago
55e61538b3
AP_AHRS_DCM: use millis/micros/panic functions
9 years ago
da86e29c27
AP_AHRS: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
9 years ago
79d85f7e10
AP_AHRS: wait for up to 10 samples to get a valid accel vector
...
the initial accel vectors can be invalid
9 years ago
c35605fa04
AP_AHRS_DCM: align tilt during initialization
9 years ago
84f811fe76
AP_AHRS: use compass get_{field,offsets}() functions
...
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
9 years ago
06c0ad987e
AP_AHRS: fixed divide by zero in SITL
...
fixes issue#2875
10 years ago
0677c2c80c
AP_AHRS: run astyle for formatting
10 years ago
4b948f5bb1
AP_AHRS: make DCM use milligauss
10 years ago
7f46cc9059
AHRS_DCM: integrate INS use_accel
10 years ago
54d5277842
AP_AHRS: standardize inclusion of libaries headers
...
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
10 years ago
7e2e78c1af
AP_AHRS: protect against zero deltat in DCM
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fixes issue #2657
10 years ago
9c776736c1
AP_AHRS: use delta_velocity and delta_angle in DCM
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this prevents an aliasing effect by using the correct delta velocity
time value for each accelerometer sample used
10 years ago
7a76f72bf5
AP_AHRS: added uptime_ms() interface
10 years ago
3529e02675
AP_AHRS: if we have 3 gyros then only use first two
...
the 3rd gyro on a PH2 has a lot more noise as it is not vibration
isolated
10 years ago
463270e0ee
AP_AHRS: avoid FPE when we don't have a compass reading
10 years ago
4d4a607b80
AP_AHRS: revert AP_Math class change
10 years ago
20f47417d5
AP_AHRS: compiler warnings: apply is_zero(float) or is_equal(float) and float to doubles
10 years ago
6bfca648b9
AP_AHRS: raise DCM P gains when disarmed for first 20 seconds
10 years ago
e28c555889
AHRS_DCM: fix compile warnings re float constants
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Also fix example sketch
10 years ago
5184bca87f
AP_AHRS: Prevent DCM reporting good tilt error when inverted
10 years ago
ea8217bd3a
AP_AHRS: Reduce time constant on filtering of DCM error reporting
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Reduces time constant from 2 to 1 second to make data more useful for pre-flight alignment checks by the EKF
10 years ago
a0969905ce
AP_AHRS: make get_error_rp() and get_error_yaw() const
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this makes them usable by multiple consumers, and allows use by EKF
10 years ago
585a105128
AP_AHRS: use compass->last_update_usec()
10 years ago
68f64fa11c
AP_AHRS: make the healthy() method const
10 years ago
ed0a56cc3c
AP_AHRS: cope with the changed semantics of airspeed.use()
10 years ago
4975cefd84
AP_AHRS_DCM: update _accel_ef_blended
10 years ago
dffcfb42bc
AHRS: add reset_gyro_drift method
10 years ago
39c8535223
AHRS_DCM: sanity check AHRS_RP_P and AHRS_YAW_P
10 years ago
270bac4472
AP_AHRS: make get_position() const
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This allows use from within AP_Mission
10 years ago
4ad643b233
AP_AHRS: use a common function for updating the CD values
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this ensures the wrapping of yaw is consistent between the 3 use cases
10 years ago
63c06ea2af
AP_AHRS: fixed calls to DCM in parent class
...
use_compass() and reset() are common to AP_AHRS_DCM and
AP_AHRS_NavEKF. As AP_AHRS_NavEKF is a child of AP_AHRS_DCM, when we
call use_compass() from within AP_AHRS_DCM we actually end up calling
AP_AHRS_NavEKF::use_compass().
This has the effect of disabling the compass in DCM when EKF is active
and EKF has decided not to use the compass. That means that the DCM
yaw (and in fact the whole attitude) can get badly off while EKF is
enabled, making DCM an ineffective fallback if EKF fails.
The fix is to call the specific class versions of use_compass() and
reset()
10 years ago
85eee31510
AHRS: rename ekfNotStarted method to initialised
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Also created default implementation in AP_AHRS class so AP_AHRS_DCM does
not need to implement it.
11 years ago
7cea7c6a18
AP_AHRS : add method to report if EKF is waiting to start
11 years ago
ae4814a773
AP_AHRS_DCM.cpp: changed the direction of position projection to ensure correct behavious in crosswind
11 years ago
6a275372dd
AP_AHRS: ensure get_position() fills in flags
11 years ago
b3c1e515dc
AP_AHRS: when no accel info available in buffer use current value
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this prevents an initialisation error, and is reasonable in flight too
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
11 years ago
315290029a
AP_AHRS: fixed check of accel sensor health
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we need to check health of each accelerometer separately
11 years ago
1a05c27bbb
AP_AHRS: added healthy() function
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this will be used to report when the AHRS subsystem becomes unhealthy
11 years ago
4d24a86088
AP_AHRS: prevent a infinity value
11 years ago
f07e4dee52
AP_AHRS: convert to new GPS API
11 years ago
b53496d470
AP_AHRS: choose the best accelerometer at each drift correction step
...
this greatly reduces the impact of aliasing on accelerometers by
choosing the accelerometer that produces the smallest error term in
DCM. The difference can be quite dramatic on the Pixhawk.
11 years ago
0b45d2bc06
AP_AHRS: removed the AHRS_GPS_DELAY parameter
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the best value has turned out to be 1, and tweaking it has not turned
out to be useful, so this simplifies the code in preparation for
adding the anti-aliasing handling with multiple accelerometers
11 years ago
f321a5f241
AP_AHRS: Change airspeed_estimate to const in children of AP_AHRS
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Allows roll/pitch controllers to use DCM's airspeed estimate. Thanks to Kevin Hester for assistance in finding this.
11 years ago
eedd88c2ec
AP_AHRS: give zero lat/lng and baro alt if no position yet in DCM
11 years ago
25ef0d5a7b
AP_AHRS: don't allow get_velocity_NED() and get_relative_position_NED() without EKF
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this avoids some linking issues, plus the functions are inaccurate
without EKF
11 years ago
c62ccce9d8
AP_AHRS: make estimate_wind() public
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this avoids it linking into copter
11 years ago
masierra
Ricardo de Almeida Gonzaga
dgrat
Caio Marcelo de Oliveira Filho
Lucas De Marchi
Andrew Tridgell
Jonathan Challinger
Gustavo Jose de Sousa
Staroselskii Georgii
Randy Mackay
Peter Barker
Tom Pittenger
Paul Riseborough
Andrew Tridgell
Przemek Lekston